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Volume 8 Issue 12
Dec.  2021

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Wanmin Chang, Yongming Li and Shaocheng Tong, "Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator," IEEE/CAA J. Autom. Sinica, vol. 8, no. 12, pp. 1923-1930, Dec. 2021. doi: 10.1109/JAS.2017.7510886
Citation: Wanmin Chang, Yongming Li and Shaocheng Tong, "Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator," IEEE/CAA J. Autom. Sinica, vol. 8, no. 12, pp. 1923-1930, Dec. 2021. doi: 10.1109/JAS.2017.7510886

Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator

doi: 10.1109/JAS.2017.7510886
Funds:

National Natural Science Foundation of China 61573175

National Natural Science Foundation of China 61374113

More Information
  • In this paper, an adaptive fuzzy state feedback control method is proposed for the single-link robotic manipulator system. The considered system contains unknown nonlinear function and actuator saturation. Fuzzy logic systems (FLSs) and a smooth function are used to approximate the unknown nonlinearities and the actuator saturation, respectively. By combining the command-filter technique with the backstepping design algorithm, a novel adaptive fuzzy tracking backstepping control method is developed. It is proved that the adaptive fuzzy control scheme can guarantee that all the variables in the closed-loop system are bounded, and the system output can track the given reference signal as close as possible. Simulation results are provided to illustrate the effectiveness of the proposed approach.

     

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